Citation:
Xiang-qin Cheng,Jing-yuan Qu,Zhe-ping Yan and Xin-qian Bian.H∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System[J].Journal of Marine Science and Application,2010,(1):87-92.
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H∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System
Xiang-qin Cheng,Jing-yuan Qu,Zhe-ping Yan and Xin-qian Bian.H∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System[J].Journal of Marine Science and Application,2010,(1):87-92.
Info
- Title:
- H∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System
- Author(s):
- Xiang-qin Cheng; Jing-yuan Qu; Zhe-ping Yan and Xin-qian Bian
- Affilations:
- Keywords:
- AUV; NAVINGATION CONTRONL; LMI; GAIN VARIATION
- DOI:
- -
- Abstract:
- In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
References:
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Memo
- Memo:
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